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Stock-Based Compensation (Tables)
3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of stock option activity
   Number of Options   Weighted Average Exercise Price   Weighted Average Remaining Life  Intrinsic
Value
 
Outstanding at December 31, 2022   6,919,894   $2.34    8.2 years  $2,034 
Granted   1,405,375   $1.29         
Exercised   (245,855)  $0.44         
Cancelled   (48,759)  $4.02         
Outstanding at March 31, 2023   8,030,655   $2.21    8.3 years  $1,679 
                   
Exercisable as of March 31, 2023   4,460,535   $1.79    7.0 years  $1,530 
                   
Vested and expected to vest as of March 31, 2023   7,880,455   $2.19    7.9 years  $1,636 

 

Schedule of weighted average assumptions for fair value of options estimated
   Three Months Ended
March 31,
 
   2023   2022 
         
Dividend yield   
%   
%
Expected volatility   62.38%   61.98%
Risk-free interest rate   3.69%   1.90%
Expected life   5.99 years    6.03 years 

 

Schedule of stock-based compensation expense to employees and non-employees
   Three Months Ended
March 31,
 
   2023   2022 
Research and development  $217   $305 
Sales, general and administrative   507    410 
   $724   $715